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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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bt_navigator crashes after reaching a goal pose #1401

Closed mlherd closed 4 years ago

mlherd commented 4 years ago
Terminal Logs All ``` [bt_navigator-11] [INFO] [bt_navigator]: Begin navigating from current location to (-0.63, 0.54) [controller_server-8] [INFO] [controller_server]: Received a goal, begin computing control effort. [controller_server-8] [INFO] [controller_server]: Preempting the goal. Passing the new path to the planner. [controller_server-8] [INFO] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-9] [INFO] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [planner_server-9] [INFO] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [recoveries_server-10] [INFO] [recoveries_server]: Attempting spin [recoveries_server-10] [INFO] [recoveries_server]: Turning -1.57 for spin recovery. [recoveries_server-10] [INFO] [recoveries_server]: spin running... [recoveries_server-10] [INFO] [recoveries_server]: spin running... [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [recoveries_server-10] [INFO] [recoveries_server]: spin running... [recoveries_server-10] [INFO] [recoveries_server]: spin completed successfully [recoveries_server-10] [INFO] [recoveries_server]: Attempting wait [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [controller_server-8] [WARN] [controller_server]: Control loop missed its desired rate of 20.0000Hz [recoveries_server-10] [INFO] [recoveries_server]: wait running... [recoveries_server-10] [INFO] [recoveries_server]: wait running... [recoveries_server-10] [INFO] [recoveries_server]: wait running... [controller_server-8] [INFO] [controller_server]: Reached the goal! [bt_navigator-11] terminate called after throwing an instance of 'std::logic_error' [bt_navigator-11] what(): BtActionNode::Tick: invalid status value [ERROR] [bt_navigator-11]: process has died [pid 21994, exit code -6, cmd '/home/melih/Desktop/ros2_eloquent/nav2_master/install/nav2_bt_navigator/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmplp43mjeq ']. ```
Terminal Log Simplified (No warning messages) ``` [bt_navigator-11] [INFO] [bt_navigator]: Begin navigating from current location to (-0.63, 0.54) [controller_server-8] [INFO] [controller_server]: Received a goal, begin computing control effort. [controller_server-8] [INFO] [controller_server]: Preempting the goal. Passing the new path to the planner. [controller_server-8] [INFO] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-9] [INFO] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [planner_server-9] [INFO] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [recoveries_server-10] [INFO] [recoveries_server]: Attempting spin [recoveries_server-10] [INFO] [recoveries_server]: Turning -1.57 for spin recovery. [recoveries_server-10] [INFO] [recoveries_server]: spin running... [recoveries_server-10] [INFO] [recoveries_server]: spin running... [recoveries_server-10] [INFO] [recoveries_server]: spin running... [recoveries_server-10] [INFO] [recoveries_server]: spin completed successfully [recoveries_server-10] [INFO] [recoveries_server]: Attempting wait [recoveries_server-10] [INFO] [recoveries_server]: wait running... [recoveries_server-10] [INFO] [recoveries_server]: wait running... [recoveries_server-10] [INFO] [recoveries_server]: wait running... [controller_server-8] [INFO] [controller_server]: Reached the goal! [bt_navigator-11] terminate called after throwing an instance of 'std::logic_error' [bt_navigator-11] what(): BtActionNode::Tick: invalid status value [ERROR] [bt_navigator-11]: process has died [pid 21994, exit code -6, cmd '/home/melih/Desktop/ros2_eloquent/nav2_master/install/nav2_bt_navigator/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmplp43mjeq ']. ```

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SteveMacenski commented 4 years ago

That’s no bueno. In general can we replace all exceptions with warnings? We absolutely don’t want things crashing, log inconsistent states or we need to guarantee that all exceptions are being handled

mlherd commented 4 years ago

I don't have a strong opinion on this. Maybe this could be a working group discussion "replace all exceptions with warnings".

SteveMacenski commented 4 years ago

Well I know that’s not a popular opinion in this group- just bringing up “hey this is a case that would help”.

Trying to compile with gdb and make it happen again to get a trace...

mlherd commented 4 years ago

I don't see this exact problem since #1417. However, sometimes bt navigator crashes with a different error message. I haven't had a chance to fully debug this issue, but here is a screenshot of the debugger logs when bt navigator dies.

bt

We can close this issue if it can't be reproduced anymore and I can open another issue for the other problem.

crdelsey commented 4 years ago

This new stack you've posted looks related to #1285

maxlein commented 4 years ago

I got this error also. Got the same debug log.
Happens to me when calling NavigateToPose in rviz while robot is already executing a goal.
But doesn't happen everytime... didn't figure out what's the cause yet.

mkhansenbot commented 4 years ago

Any update on this, does anyone know what's causing the exception?

mkhansenbot commented 4 years ago

Looks like the original issue is resolved and the new issue is a duplicate of #1285.